JP2014517761A - Robot vacuum cleaner - Google Patents

Robot vacuum cleaner Download PDF

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Publication number
JP2014517761A
JP2014517761A JP2014512751A JP2014512751A JP2014517761A JP 2014517761 A JP2014517761 A JP 2014517761A JP 2014512751 A JP2014512751 A JP 2014512751A JP 2014512751 A JP2014512751 A JP 2014512751A JP 2014517761 A JP2014517761 A JP 2014517761A
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Prior art keywords
dust box
robot
robot body
vacuum pump
dust
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JP2014512751A
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Japanese (ja)
Inventor
ホンソク パク
ジュピョ ホ
トックヨン ウォン
チャンナム ソン
ウーチョル チョン
キヨン リ
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モニュエル インコーポレーテッド
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1409—Rigid filtering receptacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/12—Dry filters
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884—Details of arrangements of batteries or their installation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Abstract

本発明は、ロボット掃除機に関するもので、ダストボックスが真空吸着結束され、ロボット本体の高さを最小化するものである。つまり、本発明はロボット掃除機において、ダストボックス置き部に真空吸入部と真空ポンプを傾きに設置して構成するものである。従って本発明は、ダストボックスの置き部の上面が開口になっていて、ダストボックスの着脱が簡単で、上記ダストボックス置き部に真空吸入部と真空ポンプが傾きに設置されていて、ロボット本体の高さが最小化され、ダストボックスの結束力が真空ポンプの吸入力によって強くなって置かれるものである。
【選択図】図１The present invention relates to a robot cleaner, in which a dust box is vacuum-bonded and bound to minimize the height of a robot body. That is, according to the present invention, in the robot cleaner, the vacuum suction part and the vacuum pump are installed at an inclination in the dust box placing part. Therefore, according to the present invention, the upper surface of the dust box holder is open, the dust box can be easily attached and detached, the vacuum suction part and the vacuum pump are installed on the dust box holder, and the height of the robot body is high. It is minimized, and the binding force of the dust box is increased by the suction force of the vacuum pump.
[Selection] Figure 1

Description

本発明は、ロボット掃除機に関するもので、より詳しくはロボット掃除機において、ダストボックス置き部に真空吸入部と真空ポンプを傾きに設置して、ダストボックスが真空吸着結束され、ロボット本体の高さを最小化することを目的とする。   The present invention relates to a robot cleaner, and more particularly, in a robot cleaner, a vacuum suction unit and a vacuum pump are installed at a tilt in a dust box mounting unit, and the dust box is vacuum-bonded and bound to minimize the height of the robot body. It aims to become.

一般的に、ロボット掃除機は人によって直接操作されなくても、自動的に掃除区域などの作業空間を自走して掃除作業を行う。   In general, even if a robot cleaner is not directly operated by a person, it automatically performs a cleaning operation by self-running a working space such as a cleaning area.

以上のようなロボット掃除機は、内装のプログラムによって予め設定されている作業経路、または最適の作業経路を自走しながら、ブラッシュでダストを掃き集めたり、真空吸入力を利用してダストを吸入したりして掃除を行うものである。   The robot cleaner described above sweeps dust with a brush or sucks dust using a vacuum suction input while self-propelling the work route preset by the interior program or the optimum work route. Or cleaning.

上述のように構成されるロボット掃除機は、ダストボックスを簡単に空けるように、ダストボックスが脱着可能に構成され、上記ダストボックスが装着されていることを感知する感知センサーを備え、上記ダストボックスが装着されているかないかをロボット掃除機が認知するように実施される。   The robot cleaner configured as described above is configured such that the dust box is detachable so as to easily empty the dust box, and includes a detection sensor for detecting that the dust box is mounted, and the dust box is mounted. It is carried out so that the robot cleaner recognizes whether or not it exists.

また、ロボット掃除機には、ダストボックスが装着されたら外れないように、ダストボックスロッキングを備え、装着されたダストボックスが離脱しないように構成している。   Further, the robot cleaner is provided with a dust box locking so that the dust box is not detached when the dust box is attached, so that the attached dust box is not detached.

しかし、上述のように、従来のロボット掃除機は大体ダストボックスと真空ポンプが水平対応する引出し式構造になっていて、対流する吸入構造のため、吸入力が低下する問題が発生する。   However, as described above, the conventional robot cleaner generally has a drawer-type structure in which the dust box and the vacuum pump correspond to each other horizontally, and the suction structure that causes convection causes a problem that the suction input decreases.

また、駆動装置である輪の乗降高さに制限があって、敷居などを乗越えられない問題があった。   In addition, there is a problem that it is impossible to get over the threshold because there is a limit in the height of getting on and off the wheel as the driving device.

上述のように、本発明は従来のロボット掃除機はダストボックスが引出し式になっていて真空ポンプなどの構成のため、ロボット本体が高くなり、ダストボックスの結束のための別途のロッキング部を備えるなど、複雑な構造になる問題を解決しようとするものである。   As described above, the present invention is a conventional robot cleaner, the dust box is a drawer type, and the structure of the vacuum pump, etc., the robot body becomes taller, with a separate locking part for binding the dust box, etc. It tries to solve the problem of complex structure.

つまり、本発明はロボット掃除機において、ダストボックス置き部に真空吸入部と真空ポンプを傾きに設置して構成するものである。   That is, according to the present invention, in the robot cleaner, the vacuum suction part and the vacuum pump are installed at an inclination in the dust box placing part.

従って、本発明はダストボックスの置き部の上面が開口になっていて、ダストボックスの着脱が簡単で、上記ダストボックス置き部に真空吸入部と真空ポンプが傾きに設置されていて、ロボット本体の高さが最小化され、ダストボックスの結束力が真空ポンプの吸入力によって強くなって置かれるものである。   Therefore, according to the present invention, the upper surface of the dust box holder is open, the dust box can be easily attached and detached, the vacuum suction part and the vacuum pump are installed on the dust box holder, and the height of the robot body is high. It is minimized, and the binding force of the dust box is increased by the suction force of the vacuum pump.

本発明によるロボット掃除機の分解斜視図The disassembled perspective view of the robot cleaner by this invention 本発明によるロボット掃除機のダストボックスの分離斜視図Separation perspective view of dust box of robot cleaner according to the present invention 本発明によるロボット掃除機のダストボックスの結合部の詳細断面図Detailed cross-sectional view of the coupling part of the dust box of the robot cleaner according to the present invention 本発明によるロボット掃除機の内部斜視図The internal perspective view of the robot cleaner according to the present invention 本発明によるロボット掃除機の底面図Bottom view of robot cleaner according to the present invention

以下、添付図面によって詳しく説明する。
本発明はロボット掃除機においてダストボックスの装着が容易にできるし、ロボット本体の高さを最小化し、ダストボックスの結束が真空結束できるように構成するものである。 This will be described in detail below with reference to the accompanying drawings.
The present invention is configured so that the dust box can be easily attached to the robot cleaner, the height of the robot body is minimized, and the dust box can be bundled in vacuum.

つまり、本発明は図１と図２で示すように、上部本体（１１０）と下部本体（１２０）に上下分割されるロボット本体（１００）と、上記ロボット本体（１００）の両方に、懸架掛装置をもって結合される駆動輪（３１０）と、上記ロボット本体（１００）の下部に結合されたメインブラッシュ（４１０）と、上記ロボット本体（１００）の側面に備えられるサイドブラッシュ（４２０）と、ロボット本体（１００）の内部に備えられる真空ポンプ（１３２）と、ロボット本体（１００）の先方に備えられ感知センサーを有するバンパー部（５１０）と、上記ロボット本体（１００）の掃除作業や駆動を制御するロボット制御部及び、ロボットの動作に要る電源を供給する電源部（６００）で形成されるロボット掃除機において、ロボット本体（１００）中、上部本体（１１０）の中央部の上面には下部へ凹入れるダストボックス置き部（１３０）を形成し、上記ダストボックス置き場（１３０）の一側底面にはメインブラッシュと蓮通する真空吸入部（１３１）を設け、上記真空吸入部（１３１）の反対側の底面にダストボックス（２００）の空気を吸入する真空ポンプ（１３２）を傾きに備え、上記ダストボックス置き場（１３０）に置かれて真空吸入部（１３１）と真空ポンプ（１３２）と結合されるダストボックス（２００）を備えて構成するものである。   That is, according to the present invention, as shown in FIGS. 1 and 2, the robot main body (100) divided into the upper main body (110) and the lower main body (120) and the robot main body (100) are suspended. A drive wheel (310) coupled with the apparatus, a main brush (410) coupled to a lower portion of the robot body (100), a side brush (420) provided on a side surface of the robot body (100), and a robot The vacuum pump (132) provided inside the main body (100), the bumper part (510) provided at the front of the robot main body (100) and having a sensing sensor, and the cleaning work and driving of the robot main body (100) are controlled. In a robot cleaner formed by a robot controller that performs power and a power source (600) that supplies power necessary for robot operation, (100), a dust box holder (130) that is recessed downward is formed on the upper surface of the central part of the upper body (110), and a vacuum that passes through the main brush is formed on the bottom of one side of the dust box holder (130). A suction part (131) is provided, and a vacuum pump (132) for sucking air from the dust box (200) is provided on the bottom surface on the opposite side of the vacuum suction part (131), and is placed in the dust box place (130). A dust box (200) coupled to the vacuum suction part (131) and the vacuum pump (132) is provided.

ここで、上記ダストボックス（２００）は図１と図２及び図３で示すように、下面の一側には真空吸入部（１３１）と繋がる吸入連結口（２１０）を形成し、上記吸入連結口（２１０）の反対側には真空ポンプ（１３２）と繋がるポンプ連結口（２２０）を傾きに形成し、上部にダストボックス蓋（２４０）を備え、上記ダストボックス蓋（２４０）には折畳み式取っ手（２５０）を備えるのである。   Here, as shown in FIGS. 1, 2, and 3, the dust box (200) has a suction connection port (210) connected to the vacuum suction part (131) on one side of the lower surface, and the suction connection port. A pump connection port (220) connected to the vacuum pump (132) is formed on the opposite side of (210) at an inclination, and a dust box lid (240) is provided on the top, and the dust box lid (240) has a foldable handle (250 ).

上記ダストボックス（２００）のポンプ連結口（２２０）には真空ポンプ（１３２）にダストが流入することを防ぐダスフィルター（２３０）が備えられる。   A dust filter (230) for preventing dust from flowing into the vacuum pump (132) is provided at the pump connection port (220) of the dust box (200).

一方、上記ダスト置き部（１３０）の両側には図２で示すように、結合されるダストボックス（２００）が間違えて結合することを防止するガイドになる置き部結合ガイド凸部（２６２）を形成し、それに対応するダストボックス（２００）の両側にはダストボックス結合ガイド溝（２６１）を形成して実施することができる。   On the other hand, as shown in FIG. 2, on both sides of the dust placing portion (130), a placing portion coupling guide convex portion (262) serving as a guide for preventing the dust box (200) to be joined from being mistakenly joined is formed. The dust box coupling guide grooves 261 may be formed on both sides of the dust box 200 corresponding thereto.

そして、上記バンパー部（５１０）は、テーブルの下など、低い場所へ容易に進入するように、側面から見て半球形断面に形成される。   The bumper portion (510) is formed in a hemispherical cross section when viewed from the side so as to easily enter a low place such as under a table.

また、上記駆動輪（３１０）をロボット本体（１００）に拘束する懸架装置は、図４で示すように、駆動モーター（３４０）を軸支点にして回動し、内部に電動結束手段が設けられ、端部に駆動輪（３１０）が結合される懸架アーム（３２０）と、上記駆動モーター（３４０）側の懸架アーム（３２０）の端部を拘束してロボット本体（１００）に弾性結束させ、駆動輪（３１０）が弾性突出するように懸架アーム（３２０）を弾性回動させる懸架ばね（３３０）で構成される。   Further, as shown in FIG. 4, the suspension device for restraining the drive wheel (310) to the robot body (100) rotates around the drive motor (340) as an axial fulcrum, and has an electric binding means provided therein. The suspension arm (320) to which the driving wheel (310) is coupled to the end and the end of the suspension arm (320) on the drive motor (340) side are bound and elastically bound to the robot body (100), The suspension spring (330) is configured to elastically rotate the suspension arm (320) so that the drive wheel (310) protrudes elastically.

以下、本発明の動作過程について説明する。
上述のようなロボット掃除機において、ロボット本体（１００）中、上部本体（１１０）の中央部上面には下部へ凹入れるダストボックス置き部（１３０）を形成し、上記ダストボックス置き場（１３０）の一側底面にメインブラッシュ（４１０）と蓮通する真空吸入部（１３１）を設け、上記真空吸入部（１３１）の反対側の底面にダストボックス（２００）の空気を吸入する真空ポンプ（１３２）を傾きに備え、上記ダストボックス置き場（１３０）に置かれて真空吸入部（１３１）と真空ポンプ（１３２）と結合されるダストボックス（２００）を備えて構成される本発明を適用実施したら、真空ポンプ（１３２）が斜めに設置されるので、ロボット本体（１００）の高さを最小化される。 Hereinafter, the operation process of the present invention will be described.
In the robot cleaner as described above, in the robot main body (100), the upper surface of the upper main body (110) is formed with a dust box holder (130) that is recessed into the lower part, and one side of the dust box holder (130). A vacuum suction part (131) passing through the main brush (410) is provided on the bottom surface, and a vacuum pump (132) for sucking air from the dust box (200) is inclined on the bottom surface opposite to the vacuum suction part (131). If the present invention is configured to include a dust box (200) placed in the dust box storage (130) and coupled to the vacuum suction part (131) and the vacuum pump (132), the vacuum pump (132) Is installed obliquely, the height of the robot body (100) is minimized.

そしてロボット掃除機が作動したら、真空ポンプ（１３２）の吸入力によってダストボックス（２００）がダストボックス置き場（１３０）に密着され、また真空吸入部（１３１）とも密着することになる。   When the robot cleaner is activated, the dust box (200) is brought into close contact with the dust box place (130) by the suction input of the vacuum pump (132), and is also brought into close contact with the vacuum suction part (131).

また、バンパー部（５１０）は側面から見て曲面に形成されていて、家具の下など、低い場所や敷居などで引っかかることなく、容易に移動することができる。   Further, the bumper portion (510) is formed in a curved surface when viewed from the side, and can be easily moved without being caught in a low place or a sill, such as under furniture.

また、駆動輪（３１０）がアーム型懸架装置を備えて実施したら、駆動輪（３１０）の乗降高さが極大化され、敷居などを容易に乗越えられる。   Moreover, if the drive wheel (310) is provided with an arm-type suspension device, the boarding / alighting height of the drive wheel (310) is maximized, and it is possible to easily get over the threshold.

本発明は上述の実施例に限定されず、請求範囲で請求する本発明の要旨内で、当該考案が属する技術分野で通常の知識を持っている人なら誰でも変更実施することができることはもちろん、そのような変更は請求範囲記載に含まれる。   The present invention is not limited to the above-described embodiments, and any person who has ordinary knowledge in the technical field to which the present invention belongs can be modified within the scope of the present invention claimed in the claims. Such modifications are included in the scope of claims.

１００：ロボット本体
１１０：上部本体
１２０：下部本体
１３０：ダストボックス置き部
１３１：真空吸入部
１３２：真空ポンプ
２００：ダストボックス
２１０：吸入連結口
２２０：ポンプ連結口
２３０：ダストフィルター
２４０：ダストボックス蓋
２５０：取っ手
２６１：ダストボックス結合ガイド溝
２６２：置き部結合ガイド凸部
３１０：駆動輪
３２０：懸架アーム
３３０：懸架ばね
３４０：駆動モーター
４１０：メインブラッシュ
４２０：サイドブラッシュ
５１０：バンパー部
６００：バッテリー 100: Robot body 110: Upper body 120: Lower body 130: Dust box holder 131: Vacuum suction part 132: Vacuum pump 200: Dust box 210: Suction connection port 220: Pump connection port 230: Dust filter 240: Dust box lid 250: Handle 261: Dust box coupling guide groove 262: Placement section coupling guide protrusion 310: Drive wheel 320: Suspension arm 330: Suspension spring 340: Drive motor 410: Main brush 420: Side brush 510: Bumper section 600: Battery

Claims (3)

上部本体（１１０）と下部本体（１２０）に上下分割されるロボット本体（１００）と、上記ロボット本体（１００）の両方に懸架掛装置をもって結合される駆動輪（３１０）と、上記ロボット本体（１００）の下部に結合されたメインブラッシュ（４１０）と、上記ロボット本体（１００）の側面に備えられるサイドブラッシュ（４２０）と、ロボット本体（１００）の内部に備えられる真空ポンプ（１３２）と、ロボット本体（１００）の先方に備えられ感知センサーを有するバンパー部（５１０）と、上記ロボット本体（１００）の掃除作業や駆動を制御するロボット制御部及び、ロボットの動作に要る電源を供給する電源部（６００）で形成されるロボット掃除機において；
ロボット本体（１００）中、上部本体（１１０）の中央部の上面には下部へ凹入れるダストボックス置き部（１３０）を形成し、上記ダストボックス置き場（１３０）の一側底面にはメインブラッシュと蓮通する真空吸入部（１３１）を設け、上記真空吸入部（１３１）の反対側の底面にダストボックス（２００）の空気を吸入する真空ポンプ（１３２）を傾きに備え、上記ダストボックス置き場（１３０）に置かれて真空吸入部（１３１）と真空ポンプ（１３２）と結合されるダストボックス（２００）を備えて構成し、
上記ダストボックス（２００）の下面の一側には真空吸入部（１３１）と繋がる吸入連結口（２１０）を形成し、上記吸入連結口（２１０）の反対側には真空ポンプ（１３２）と繋がるポンプ連結口（２２０）を傾きに形成し、上部にダストボックス蓋（２４０）を備え、上記ダストボックス蓋（２４０）には折畳み式取っ手（２５０）を備え、上記ダストボックス（２００）のポンプ連結口（２２０）には真空ポンプ（１３２）へのダストが流入することを防ぐダスフィルター（２３０）を備えて構成することを特徴とする
ロボット掃除機。 A robot body (100) which is divided into an upper body (110) and a lower body (120), a driving wheel (310) coupled to both the robot body (100) with a suspension device, and the robot body ( 100) a main brush (410) coupled to a lower portion of the robot body (100), a side brush (420) provided on a side surface of the robot body (100), a vacuum pump (132) provided in the robot body (100), A bumper unit (510) provided at the front of the robot body (100) and having a sensing sensor, a robot control unit for controlling cleaning work and driving of the robot body (100), and a power supply required for the operation of the robot are supplied. In a robot cleaner formed by a power supply (600);
In the robot body (100), a dust box holder (130) that is recessed downward is formed on the upper surface of the central part of the upper body (110), and a main brush and a lotus root are formed on the bottom surface of the dust box holder (130). And a vacuum pump (132) for sucking air from the dust box (200) on the bottom surface opposite to the vacuum suction part (131) is provided at an inclination, and is placed in the dust box storage (130). It comprises a dust box (200) that is connected to the vacuum suction part (131) and the vacuum pump (132).
A suction connection port (210) connected to the vacuum suction part (131) is formed on one side of the lower surface of the dust box (200), and a pump connected to the vacuum pump (132) on the opposite side of the suction connection port (210). The connecting port (220) is formed in an inclined manner, and is provided with a dust box lid (240) at the top, the dust box lid (240) is provided with a foldable handle (250), and the pump connecting port (220) of the dust box (200). Is provided with a dust filter (230) for preventing dust from flowing into the vacuum pump (132). ダスト置き部（１３０）の両側には、結合されるダストボックス（２００）が間違えて結合することを防止するガイドになる置き部結合ガイド凸部（２６２）を形成し、それに対応するダストボックス（２００）の両側にはダストボックス結合ガイド溝（２６１）を形成し、
上記バンパー部（５１０）は、テーブルの下など、低い場所へ容易に進入するように、側面から見て半球形断面に形成されることを特徴とする、
請求項１のロボット掃除機。 On both sides of the dust placing portion (130), placing portion coupling guide convex portions (262) serving as a guide for preventing the coupled dust box (200) from being mistakenly joined are formed, and the corresponding dust box (200). Dust box coupling guide groove (261) is formed on both sides of
The bumper portion (510) is formed in a hemispherical cross section when viewed from the side so as to easily enter a low place such as under a table.
The robot cleaner according to claim 1. 上記駆動輪（３１０）をロボット本体（１００）に拘束する懸架装置は、駆動モーター（３４０）を軸支点にして回動し、内部に電動結束手段が設けられ、端部に駆動輪（３１０）が結合される懸架アーム（３２０）と、上記駆動モーター（３４０）側の懸架アーム（３２０）の端部を拘束してロボット本体（１００）に弾性結束させ、駆動輪（３１０）が弾性突出するように、懸架アーム（３２０）を弾性回動させる懸架ばね（３３０）で構成することを特徴とする、
請求項１または請求項２のロボット掃除機。
The suspension device for restraining the driving wheel (310) to the robot body (100) rotates about the driving motor (340) as an axis fulcrum, and has an electric binding means inside, and the driving wheel (310) at the end. The suspension arm (320) to which the motor is coupled and the end of the suspension arm (320) on the drive motor (340) side are restrained to be elastically bound to the robot body (100), and the drive wheel (310) is elastically projected. As described above, the suspension arm (320) is configured by a suspension spring (330) that elastically rotates.
The robot cleaner according to claim 1 or 2.
JP2014512751A 2012-04-24 2012-04-25 Robot vacuum cleaner Pending JP2014517761A (en)

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